In this section an overview of the algorithm to retrieve structure and motion from a sequence of images is given. First a projective frame is initialized from the two first views. The projective camera matrices are chosen so that they satisfy the computed fundamental matrix. The matched corners are reconstructed so that an initial structure is obtained. The other views in the sequence are related to the existing structure by matching them with their predecessor. Once this is done the structure is updated. Existing points are refined and new points are initialized. When the camera motion implies that points continuously disappear and reappear it is interesting to relate an image to other ``close'' views. Once the structure and motion has been retrieved for the whole sequence, the results can be refined through bundle adjustment. A solution was also presented for the degenerate case where at some point during the acquisition a dominant plane is observed (i.e. all features common to three consecutive views are located on a plane).